CN111211715B - Motor control method and system and controller - Google Patents

Motor control method and system and controller Download PDF

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Publication number
CN111211715B
CN111211715B CN201811397469.8A CN201811397469A CN111211715B CN 111211715 B CN111211715 B CN 111211715B CN 201811397469 A CN201811397469 A CN 201811397469A CN 111211715 B CN111211715 B CN 111211715B
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Prior art keywords
motor
angle
open
loop
preset
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CN111211715A (en
Inventor
蒋德凯
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Hangzhou Leaderway Electronics Co ltd
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Hangzhou Leaderway Electronics Co ltd
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Priority to CN201811397469.8A priority Critical patent/CN111211715B/en
Priority to US17/250,819 priority patent/US11606050B2/en
Priority to EP19886859.8A priority patent/EP3886312A4/en
Priority to PCT/CN2019/119890 priority patent/WO2020103894A1/en
Publication of CN111211715A publication Critical patent/CN111211715A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H02P6/21—Open loop start
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/32—Reducing overshoot or oscillation, e.g. damping

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a motor control method, a motor control system and a motor controller, which comprise the following steps: controlling the motor to open loop operation; judging whether the rotating speed of the motor reaches a preset rotating speed, if so, judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than the preset angle, and if the absolute value of the angle difference is smaller than or equal to the preset angle, controlling the motor to operate in a closed loop mode so as to avoid the problems that the motor is in speed oscillation and the like due to overlarge angle difference between the open-loop angle and the position angle, and the motor cannot operate stably.

Description

Motor control method and system and controller
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method, a motor control system and a motor controller.
Background
Along with the continuous improvement of energy-saving requirements, the requirements of people on variable-frequency speed regulation control of the motor are also increasing. In the prior art, when the motor is subjected to variable frequency speed regulation control, a FOC (field-oriented control) control algorithm is generally adopted, but the stability of the operation or the starting reliability of the motor still needs to be improved.
Disclosure of Invention
In view of the above, the present invention provides a motor control method and system, and a controller, so as to improve the stability or starting reliability of the motor operation.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a motor control method, comprising:
controlling the motor to open loop operation;
judging whether the rotating speed of the motor reaches a preset rotating speed or not;
if the preset rotating speed is reached, judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle;
and if the absolute value of the angle difference is smaller than or equal to the preset angle, controlling the motor to operate in a closed loop.
Optionally, the method further comprises:
if the absolute value of the angle difference is larger than the preset angle:
judging whether the open loop current of the motor is smaller than or equal to a current minimum value;
if yes, controlling the motor to run in a closed loop;
if not, reducing the open-loop current of the motor, and returning to the step of judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle.
Optionally, before determining whether the absolute value of the angle difference between the open-loop angle and the estimated position angle of the motor is greater than the preset angle, the method further includes:
integrating the rotating speed of the motor to obtain an open loop angle of the motor;
and estimating an estimated position angle of the motor by using a position estimating part.
Optionally, the preset angle ranges from 0 ° to 25 °.
Alternatively, I limit ＝I open * n, n is greater than or equal to 0 and less than or equal to 1;
wherein I is limit For the current minimum value, I open Is the initial open loop current value.
A motor control system comprises a first judging module, a second judging module and a control module;
the first judging module is used for judging whether the rotating speed of the motor reaches a preset rotating speed or not when the motor runs in an open loop mode, and sending a first control instruction to the second judging module when the rotating speed of the motor reaches the preset rotating speed;
the second judging module is used for judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle or not after receiving the first control instruction, and if the absolute value of the angle difference is smaller than or equal to the preset angle, sending a second control instruction to the control module;
the control module is used for controlling the motor to run in an open loop mode, and controlling the motor to run in a closed loop mode after receiving the second control instruction.
Optionally, the system further comprises a third judging module;
the second judging module is further configured to send a third control instruction to the third judging module when the absolute value of the angle difference is greater than the preset angle;
and the third judging module is used for judging whether the open-loop current of the motor is smaller than or equal to a current minimum value after receiving the third control instruction, if so, sending the second control instruction to the control module, if not, reducing the open-loop current of the motor, and sending the first control instruction to the second judging module.
Optionally, the device further comprises a calculation module and a position calculation part;
the calculation module is used for integrating the rotating speed of the motor to obtain an open loop angle of the motor;
the position estimating unit estimates a position angle of a rotor of the motor to obtain the estimated position angle.
Optionally, the preset angle ranges from 0 ° to 25 °.
Alternatively, I limit ＝I open * n, n is greater than or equal to 0 and less than or equal to 1;
wherein I is limit For the current minimum value, I open Is the initial open loop current value.
A controller comprising a motor control system as claimed in any one of the preceding claims.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
according to the motor control method, the motor control system and the motor controller, after the motor runs in an open loop and the rotating speed reaches the preset rotating speed, whether the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle is judged, if the absolute value of the angle difference is smaller than or equal to the preset angle, the motor is controlled to run in a closed loop, and the problem that the motor cannot run stably due to the fact that the speed oscillation and the like occur in the motor due to the fact that the angle difference between the open loop angle and the position angle is too large is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method for open-loop and closed-loop control of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart of another control method for open-loop and closed-loop control of a motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motor open-loop and closed-loop control system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another control system for open-loop and closed-loop control of a motor according to an embodiment of the present invention.
Detailed Description
As described in the background, there is a need for improved motor operation stability or start-up reliability. The inventor researches and discovers that when the motor is controlled to be switched from an open-loop state to a closed-loop state, the motor often cannot run stably, and the reason for the problem is mainly that the open-loop current of the motor is larger than the current actually required by the closed loop at the switching moment, so that a larger angle difference exists between the open-loop angle and the position angle of a motor rotor, and the problems of speed oscillation, non-sinusoidal three-phase current and the like of the motor are caused, and further the motor is out-of-step and stopped and is failed to start.
Based on this, the present invention provides a motor control method to overcome the above-mentioned problems of the prior art, including:
controlling the motor to open loop operation;
judging whether the rotating speed of the motor reaches a preset rotating speed or not;
if the preset rotating speed is reached, judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle;
and if the absolute value of the angle difference is smaller than or equal to the preset angle, controlling the motor to operate in a closed loop.
The invention also provides a motor control system, which comprises a first judging module, a second judging module and a control module;
the first judging module is used for judging whether the rotating speed of the motor reaches a preset rotating speed or not when the motor runs in an open loop mode, and sending a first control instruction to the second judging module when the rotating speed of the motor reaches the preset rotating speed;
the second judging module is used for judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle or not after receiving the first control instruction, and if the absolute value of the angle difference is smaller than or equal to the preset angle, sending a second control instruction to the control module;
the control module is used for controlling the motor to run in an open loop mode, and controlling the motor to run in a closed loop mode after receiving the second control instruction.
According to the motor control method, the motor control system and the motor controller, after the motor runs in an open loop and the rotating speed reaches the preset rotating speed, whether the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle is judged, if the absolute value of the angle difference is smaller than or equal to the preset angle, the motor is controlled to run in a closed loop, and the problem that the motor cannot run stably due to the fact that the speed oscillation and the like occur in the motor due to the fact that the angle difference between the open loop angle and the position angle is too large is avoided.
The foregoing is a core idea of the present invention, and in order that the above-mentioned objects, features and advantages of the present invention can be more clearly understood, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An embodiment of the present invention provides a motor control method, as shown in fig. 1, including:
step 1: controlling the motor to open loop operation;
step 2: judging whether the rotating speed of the motor reaches a preset rotating speed, if so, entering a step 3;
step 3: judging whether the absolute value of the angle difference between the open-loop angle of the motor and the calculated position angle is larger than a preset angle, and if the absolute value of the angle difference is smaller than or equal to the preset angle, entering a step 4;
step 4: and controlling the motor to run in a closed loop.
In the embodiment of the invention, after the motor runs in an open loop and the rotating speed reaches the preset rotating speed, if the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is smaller than or equal to the preset angle, the motor is controlled to run in a closed loop, so that the problems of speed oscillation and the like of the motor caused by overlarge angle difference between the open loop angle and the position angle are avoided, and the problem that the motor cannot run stably is further caused.
Optionally, the preset angle ranges from 0 ° to 25 °, so as to limit the angle difference between the open-loop angle and the position angle to a range from 0 ° to 25 °, and further avoid the overlarge angle difference between the open-loop angle and the position angle.
Further, as shown in fig. 2, in the control method provided by the embodiment of the present invention, if the absolute value of the angle difference between the open loop angle and the estimated position angle is greater than a preset angle, the method further includes:
step 5: judging whether the open loop current of the motor is smaller than or equal to the current minimum value, if so, entering a step 6, if not, entering a step 7, and returning to the step 3;
step 6: controlling the motor to run in a closed loop;
step 7: the open loop current of the motor is reduced.
In the embodiment of the invention, when the motor is controlled to open loop, the open loop current of the motor is set as the initial open loop current value, and after the rotating speed of the motor reaches the preset rotating speed, if the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle, the problem that the motor cannot operate stably due to the speed oscillation of the motor and the like can be solved.
Because the calculated position angle is an estimated position angle, in order to avoid the situation that the absolute value of the angle difference is larger than a preset angle due to inaccurate estimation, in the embodiment of the invention, whether the open-loop current of the motor is smaller than or equal to the current minimum value is further judged, if the open-loop current is smaller than or equal to the current minimum value, the difference value between the open-loop current and the current actually required by the closed loop is not too large, and the angle difference between the open-loop angle and the actual position angle is not too large, so that the closed-loop operation of the motor can be controlled;
if the open loop current is larger than the current minimum value, the difference value between the open loop current and the current actually required by the closed loop is too large, and the angle difference between the open loop angle and the actual position angle is too large. And 3, after the open-loop current is reduced, the angle difference between the open-loop angle and the actual position angle is also reduced, so that the motor can be controlled to operate in a closed loop if the absolute value of the angle difference is smaller than or equal to a preset angle, and the open-loop current is reduced by a preset value again if the absolute value of the angle difference is larger than the preset angle until the angle difference meets the condition for controlling the motor to operate in the closed loop.
Alternatively, I limit ＝I open * n is 0 or more and 1 or less. When n=0, it indicates that there is external power to make the motor rotate forward, the forward speed is greater than or equal to the preset rotation speed, and the motor current minimum value I limit May be selected to be 0, i.e. n=0. When the external load is large, the current required by the driving motor and the initial open loop current value I can occur open In the case of coincidence, the motor current minimum value I limit Can be selected as an initial open loop current value, i.e limit ＝I open N=1; wherein I is limit For the current minimum value, I open For the initial open loop current value, n is a constant value or a varying value.
Optionally, in one embodiment, the motor is controlled to turn onRing current reduction, in particular, setting updated I open ＝I open -I 0 ，I 0 For the preset value, I 0 ＝I open F, f is the execution frequency of the control method; it should be noted that in other embodiments, the open loop current reduction controlling the motor may be controlled in other ways, such as I 0 Or may be varied as a function of a trigonometric function or the like.
It should be noted that, in the control method provided by the embodiment of the present invention, before determining whether the absolute value of the angle difference between the open loop angle and the estimated position angle of the motor is greater than the preset angle, the method further includes:
integrating the rotating speed of the motor to obtain an open loop angle of the motor;
the position estimating unit estimates the position angle of the rotor of the motor.
That is, the estimated position angle is a position angle at which the position estimating section estimates the rotor of the motor based on the operation parameters of the motor, including current, voltage, and the like. Alternatively, the position estimation angle may be angle information obtained using a hall sensor or the like.
A specific control flow of the motor is described below.
Firstly, the motor is electrified to control the motor to start in an open loop mode so as to accelerate a cc Speed V of motor run From a certain speed (e.g. 0, -5 rad/S) to a preset speed S open For velocity V run Integrating to obtain an open loop angle theta open Simultaneously setting open loop current I of motor open For an initial open loop current value, the speed V of the motor rotor is estimated est And a position angle theta est 。
When the speed of the motor reaches the preset speed V open Then, calculate the open loop angle θ open And the estimated position angle theta est Absolute value of angular difference Δθ= |θ open- θ est And judging whether delta theta is larger than a preset angle theta limit If not, controlling the motor to run in a closed loop, and if so, judging the open loop current I open Whether or not to be less than or equal to the current minimum value I limit If yes, controlling the motor to run in a closed loop, otherwise, controlling the open loop current I of the motor open Reducing the preset value, i.e. I open ＝I open -I 0 And returning to the step 2, and repeating the following steps.
After the closed-loop operation of the motor is controlled, initializing the integral term current of the speed loop as I open The feedback speed uses V est The angle θ of park transformation and inverse park transformation uses the estimated position angle θ est And finishing the switching action.
The motor in the embodiment of the present invention is a motor, and may be a stepper motor.
According to the motor control method provided by the invention, after the motor runs in an open loop and the rotating speed reaches the preset rotating speed, whether the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle is judged, if the absolute value of the angle difference is smaller than or equal to the preset angle, the motor is controlled to run in a closed loop, so that the problem that the motor cannot run stably due to the fact that the speed oscillation and the like occur due to the fact that the angle difference between the open loop angle and the position angle is too large is avoided.
And when the absolute value of the angle difference is larger than a preset angle, further judging whether the open-loop current of the motor is smaller than or equal to the current minimum value, if so, controlling the closed-loop operation of the motor, if not, reducing the open-loop current of the motor, and returning to the step 3 to avoid the condition that the absolute value of the angle difference is larger than the preset angle due to inaccurate position angle estimation.
The embodiment of the invention also provides a motor control system, as shown in fig. 3, which comprises a first judging module 11, a second judging module 12 and a control module 13.
The first judging module 11 is configured to judge whether the rotation speed of the motor reaches a preset rotation speed when the motor is operated in an open loop, and send a first control instruction to the second judging module 12 when the rotation speed of the motor reaches the preset rotation speed;
the second judging module 12 is configured to, after receiving the first control instruction, judge whether an absolute value of an angle difference between an open loop angle of the motor and an estimated position angle is greater than a preset angle, and if the absolute value of the angle difference is less than or equal to the preset angle, send a second control instruction to the control module 13;
the control module 13 is configured to control the motor to operate in an open loop, and after receiving the second control instruction, control the motor to operate in a closed loop.
In the embodiment of the invention, after the control module 13 controls the motor to perform open-loop operation, the first judging module 11 judges whether the rotating speed of the motor reaches a preset rotating speed, and when the rotating speed of the motor reaches the preset rotating speed, a first control instruction is sent to the second judging module 12;
the second judging module 12 is configured to, after receiving the first control instruction, judge whether an absolute value of an angle difference between an open loop angle of the motor and the calculated position angle is greater than a preset angle, and if the absolute value of the angle difference is less than or equal to the preset angle, send a second control instruction to the control module 13;
the control module 13 is configured to control the motor to perform closed-loop operation after receiving the second control instruction, so as to avoid the problem that the motor is not capable of performing stable operation due to the excessive angle difference between the open-loop angle and the position angle, which results in the occurrence of speed oscillation and the like of the motor.
The control system provided by the embodiment of the invention, as shown in fig. 4, further includes a third judging module 14;
the second judging module 12 is further configured to send a third control instruction to the third judging module 14 when the absolute value of the angle difference is greater than the preset angle;
the third judging module 14 is configured to, after receiving the third control instruction, judge whether the open-loop current of the motor is less than or equal to a current minimum value, if yes, send the second control instruction to the control module 13, if no, reduce the open-loop current of the motor by a preset value, and send the first control instruction to the second judging module 12.
In the embodiment of the invention, when the motor is controlled to open loop, the open loop current of the motor is set as the initial open loop current value, and after the rotating speed of the motor reaches the preset rotating speed, if the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle, the problem that the motor cannot operate stably due to the speed oscillation of the motor and the like can be solved.
Because the calculated position angle is an estimated position angle, in order to avoid the situation that the absolute value of the angle difference is larger than a preset angle due to inaccurate estimation, in the embodiment of the invention, the third judging module 14 further judges whether the open-loop current of the motor is smaller than or equal to the current minimum value, if the open-loop current is smaller than or equal to the current minimum value, the difference value between the open-loop current and the current actually required by the closed loop is not too large, and the angle difference between the open-loop angle and the actual position angle is not too large, so that the closed-loop operation of the motor can be controlled;
if the open loop current is larger than the current minimum value, the difference value between the open loop current and the current actually required by the closed loop is too large, and the angle difference between the open loop angle and the actual position angle is too large. And 3, after the open-loop current is reduced, the angle difference between the open-loop angle and the actual position angle is also reduced, so that the motor can be controlled to operate in a closed loop if the absolute value of the angle difference is smaller than or equal to a preset angle, and the open-loop current is reduced again if the absolute value of the angle difference is larger than the preset angle until the angle difference meets the condition of the controllable motor to operate in the closed loop.
The control system provided by the embodiment of the invention further comprises a calculation module and a position reckoning part;
the calculation module is used for integrating the rotating speed of the motor to obtain an open loop angle of the motor; the position estimating section estimates a position angle of a rotor of the motor to obtain the estimated position angle.
Optionally, the preset angle ranges from 0 ° to 25 °.
Alternatively, I limit ＝I open * n is 0 or more and 1 or less. When n=0, it indicates that there is external power to make the motor rotate forward, the forward speed is greater than or equal to the preset rotation speed, and the motor current minimum value I limit May be selected to be 0, i.e. n=0. When the external load is large, the current required by the driving motor and the initial open loop current value I can occur open In the case of coincidence, the motor current minimum value I limit Can be selected as an initial open loop current value, i.e limit ＝I open N=1; wherein I is limit For the current minimum value, I open For the initial open loop current value, n is a constant value or a varying value.
Optionally, in one embodiment, controlling the open loop current reduction of the motor is specifically setting updated I open ＝I open -I 0 ，I 0 For the preset value, I 0 ＝I open F, f is the execution frequency of the control method; it should be noted that in other embodiments, the open loop current reduction controlling the motor may be controlled in other ways, such as I 0 Or may be varied as a function of a trigonometric function or the like.
According to the motor control system provided by the invention, after the motor runs in an open loop and the rotating speed reaches the preset rotating speed, whether the absolute value of the angle difference between the open loop angle and the calculated position angle of the motor is larger than the preset angle is judged, if the absolute value of the angle difference is smaller than or equal to the preset angle, the motor is controlled to run in a closed loop, so that the problem that the motor cannot run stably due to the fact that the speed oscillation and the like occur due to the fact that the angle difference between the open loop angle and the position angle is too large is avoided.
And when the absolute value of the angle difference is larger than a preset angle, further judging whether the open-loop current of the motor is smaller than or equal to the current minimum value, if so, controlling the closed-loop operation of the motor, if not, reducing the open-loop current of the motor by the preset value, and returning to the step 3, so as to avoid the situation that the absolute value of the angle difference is larger than the preset angle due to inaccurate position angle estimation.
The embodiment of the invention also provides a controller, which comprises the motor control system provided by any embodiment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. A motor control method, characterized by comprising:
controlling the motor to open loop operation; the open loop current is an initial open loop current value;
judging whether the rotating speed of the motor reaches a preset rotating speed or not;
if the preset rotating speed is reached, judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle;
if the absolute value of the angle difference is smaller than or equal to the preset angle, controlling the motor to operate in a closed loop;
if the absolute value of the angle difference is larger than the preset angle:
judging whether the open loop current of the motor is smaller than or equal to a current minimum value; wherein I is limit =I open * n is greater than or equal to 0 and less than or equal to 1, and the value of n is related to the external load; i limit For the current minimum value, I open Is an initial open loop current value;
if so, controlling the closed loop operation of the motor, wherein the difference value between the current representing the open loop and the current actually required by the closed loop is not too large, and the angle difference between the open loop angle and the actual position angle is not too large;
if not, reducing the open-loop current of the motor, and returning to the step of judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle.
2. The method according to claim 1, wherein determining whether an absolute value of an angular difference between the open-loop angle of the motor and the estimated position angle is greater than a preset angle further comprises:
integrating the rotating speed of the motor to obtain an open loop angle of the motor;
and estimating an estimated position angle of the motor by using a position estimating part.
3. The method of claim 1, wherein the predetermined angle is in the range of 0-25 °.
4. The motor control system is characterized by comprising a first judging module, a second judging module and a control module;
the first judging module is used for judging whether the rotating speed of the motor reaches a preset rotating speed or not when the motor runs in an open loop mode, and sending a first control instruction to the second judging module when the rotating speed of the motor reaches the preset rotating speed; wherein the open loop current is an initial open loop current value;
the second judging module is used for judging whether the absolute value of the angle difference between the open-loop angle and the calculated position angle of the motor is larger than a preset angle or not after receiving the first control instruction, and if the absolute value of the angle difference is smaller than or equal to the preset angle, sending a second control instruction to the control module;
the control module is used for controlling the motor to run in an open loop mode, and controlling the motor to run in a closed loop mode after receiving the second control instruction;
a third judging module;
the second judging module is further configured to send a third control instruction to the third judging module when the absolute value of the angle difference is greater than the preset angle;
the third judging module is configured to judge whether an open-loop current of the motor is less than or equal to a current minimum value after receiving the third control instruction, if yes, the difference value between the open-loop current and the current actually required by the closed loop is not too large, and if not, the second control instruction is sent to the control module, and if not, the open-loop current of the motor is reduced, the first control instruction is sent to the second judging module; wherein I is limit =I open * n is greater than or equal to 0 and less than or equal to 1, and the value of n is related to the external load; i limit For the current minimum value, I open Is the initial open loop current value.
5. The system of claim 4, further comprising a computing module and a position estimation portion;
the calculation module is used for integrating the rotating speed of the motor to obtain an open loop angle of the motor;
the position estimating unit estimates a position angle of a rotor of the motor to obtain the estimated position angle.
6. The system of claim 4, wherein the predetermined angle is in the range of 0-25 °.
7. A controller comprising the motor control system of any one of claims 4-6.
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